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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classblmc__drivers_1_1CanBusMotorBoard-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">blmc_drivers::CanBusMotorBoard Class Reference</div>  </div>
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<p>This class <a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html" title="This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. ">CanBusMotorBoard</a> implements a <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html" title="MotorBoardInterface declares an API to inacte with a MotorBoard. ">MotorBoardInterface</a> specific to CAN networks.  
 <a href="classblmc__drivers_1_1CanBusMotorBoard.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="motor__board_8hpp_source.html">motor_board.hpp</a>&gt;</code></p>
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Inheritance diagram for blmc_drivers::CanBusMotorBoard:</div>
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<area shape="rect" id="node2" href="classblmc__drivers_1_1MotorBoardInterface.html" title="MotorBoardInterface declares an API to inacte with a MotorBoard. " alt="" coords="18,80,189,121"/>
<area shape="rect" id="node3" href="classblmc__drivers_1_1DeviceInterface.html" title="this class exists purely for logical reasons, it does not in itself implement anything. " alt="" coords="5,5,201,32"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for blmc_drivers::CanBusMotorBoard:</div>
<div class="dyncontent">
<div class="center"><img src="classblmc__drivers_1_1CanBusMotorBoard__coll__graph.png" border="0" usemap="#blmc__drivers_1_1CanBusMotorBoard_coll__map" alt="Collaboration graph"/></div>
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<area shape="rect" id="node2" href="classblmc__drivers_1_1MotorBoardInterface.html" title="MotorBoardInterface declares an API to inacte with a MotorBoard. " alt="" coords="18,80,189,121"/>
<area shape="rect" id="node3" href="classblmc__drivers_1_1DeviceInterface.html" title="this class exists purely for logical reasons, it does not in itself implement anything. " alt="" coords="5,5,201,32"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a43674811685fce4dbc3a9996e08454c9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a43674811685fce4dbc3a9996e08454c9">CanBusMotorBoard</a> (std::shared_ptr&lt; <a class="el" href="classblmc__drivers_1_1CanBusInterface.html">CanBusInterface</a> &gt; can_bus, const size_t &amp;history_length=1000, const int &amp;control_timeout_ms=100)</td></tr>
<tr class="memdesc:a43674811685fce4dbc3a9996e08454c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a new <a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html" title="This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. ">CanBusMotorBoard</a> object.  <a href="#a43674811685fce4dbc3a9996e08454c9">More...</a><br /></td></tr>
<tr class="separator:a43674811685fce4dbc3a9996e08454c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4099ee10765570b2bfb1f91a0670b11b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4099ee10765570b2bfb1f91a0670b11b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a4099ee10765570b2bfb1f91a0670b11b">~CanBusMotorBoard</a> ()</td></tr>
<tr class="memdesc:a4099ee10765570b2bfb1f91a0670b11b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destroy the <a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html" title="This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. ">CanBusMotorBoard</a> object. <br /></td></tr>
<tr class="separator:a4099ee10765570b2bfb1f91a0670b11b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38094207eed00f6b1d75cfe9b5b87046"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a38094207eed00f6b1d75cfe9b5b87046">get_measurement</a> (const int &amp;index) const </td></tr>
<tr class="memdesc:a38094207eed00f6b1d75cfe9b5b87046"><td class="mdescLeft">&#160;</td><td class="mdescRight">Getters.  <a href="#a38094207eed00f6b1d75cfe9b5b87046">More...</a><br /></td></tr>
<tr class="separator:a38094207eed00f6b1d75cfe9b5b87046"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04aef38d8490ed8ac0e12cb09ef313e4"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae3777e484dda60c4abe87f2b542ddfb8">StatusTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a04aef38d8490ed8ac0e12cb09ef313e4">get_status</a> () const </td></tr>
<tr class="memdesc:a04aef38d8490ed8ac0e12cb09ef313e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the status of the CAN card.  <a href="#a04aef38d8490ed8ac0e12cb09ef313e4">More...</a><br /></td></tr>
<tr class="separator:a04aef38d8490ed8ac0e12cb09ef313e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a298403ab64585ed459eda57165057fef"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a298403ab64585ed459eda57165057fef">get_control</a> (const int &amp;index) const </td></tr>
<tr class="memdesc:a298403ab64585ed459eda57165057fef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the controls to be sent.  <a href="#a298403ab64585ed459eda57165057fef">More...</a><br /></td></tr>
<tr class="separator:a298403ab64585ed459eda57165057fef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc8f5d6a631dc01a236d623754362e7d"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae2afe94a023d9f08a4c689e9b7660f15">CommandTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#abc8f5d6a631dc01a236d623754362e7d">get_command</a> () const </td></tr>
<tr class="memdesc:abc8f5d6a631dc01a236d623754362e7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the commands to be sent.  <a href="#abc8f5d6a631dc01a236d623754362e7d">More...</a><br /></td></tr>
<tr class="separator:abc8f5d6a631dc01a236d623754362e7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a907629485fcf006e1e61b9739d3c94ec"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a907629485fcf006e1e61b9739d3c94ec">get_sent_control</a> (const int &amp;index) const </td></tr>
<tr class="memdesc:a907629485fcf006e1e61b9739d3c94ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the already sent controls.  <a href="#a907629485fcf006e1e61b9739d3c94ec">More...</a><br /></td></tr>
<tr class="separator:a907629485fcf006e1e61b9739d3c94ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e2920571e42aafa8045d1148f078a3a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt; const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae2afe94a023d9f08a4c689e9b7660f15">CommandTimeseries</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a4e2920571e42aafa8045d1148f078a3a">get_sent_command</a> () const </td></tr>
<tr class="memdesc:a4e2920571e42aafa8045d1148f078a3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the already sent commands.  <a href="#a4e2920571e42aafa8045d1148f078a3a">More...</a><br /></td></tr>
<tr class="separator:a4e2920571e42aafa8045d1148f078a3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dbd787fcfc25d68d5443e2f0bf21f64"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a8dbd787fcfc25d68d5443e2f0bf21f64">set_control</a> (const double &amp;control, const int &amp;index)</td></tr>
<tr class="memdesc:a8dbd787fcfc25d68d5443e2f0bf21f64"><td class="mdescLeft">&#160;</td><td class="mdescRight">Setters.  <a href="#a8dbd787fcfc25d68d5443e2f0bf21f64">More...</a><br /></td></tr>
<tr class="separator:a8dbd787fcfc25d68d5443e2f0bf21f64"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bb9c1f7f59507feed145111ccffc625"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a4bb9c1f7f59507feed145111ccffc625">set_command</a> (const <a class="el" href="classblmc__drivers_1_1MotorBoardCommand.html">MotorBoardCommand</a> &amp;command)</td></tr>
<tr class="memdesc:a4bb9c1f7f59507feed145111ccffc625"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the commands, see <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a86b4ff810ca652d6761090ceaff65621" title="set_command save the command internally. ">MotorBoardInterface::set_command</a>.  <a href="#a4bb9c1f7f59507feed145111ccffc625">More...</a><br /></td></tr>
<tr class="separator:a4bb9c1f7f59507feed145111ccffc625"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19ced11d06984528e6a2308c03ba83ac"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a19ced11d06984528e6a2308c03ba83ac"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a19ced11d06984528e6a2308c03ba83ac">send_if_input_changed</a> ()</td></tr>
<tr class="memdesc:a19ced11d06984528e6a2308c03ba83ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send the actual command and controls. <br /></td></tr>
<tr class="separator:a19ced11d06984528e6a2308c03ba83ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c496f045d3ef68c02fe6dd5abbdc4eb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3c496f045d3ef68c02fe6dd5abbdc4eb"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a3c496f045d3ef68c02fe6dd5abbdc4eb">wait_until_ready</a> ()</td></tr>
<tr class="memdesc:a3c496f045d3ef68c02fe6dd5abbdc4eb"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns only once board and motors are ready. <br /></td></tr>
<tr class="separator:a3c496f045d3ef68c02fe6dd5abbdc4eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecd2ba0d3d1f40ffd38a0fd47b8da55d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aecd2ba0d3d1f40ffd38a0fd47b8da55d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>is_ready</b> ()</td></tr>
<tr class="separator:aecd2ba0d3d1f40ffd38a0fd47b8da55d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a19ffd7d9ef9a441299164485e85ec6fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a19ffd7d9ef9a441299164485e85ec6fd">pause_motors</a> ()</td></tr>
<tr class="separator:a19ffd7d9ef9a441299164485e85ec6fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a846382d2ad74d2087f5557ecd90937e3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a846382d2ad74d2087f5557ecd90937e3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html#a846382d2ad74d2087f5557ecd90937e3">disable_can_recv_timeout</a> ()</td></tr>
<tr class="memdesc:a846382d2ad74d2087f5557ecd90937e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable the can reciever timeout. <br /></td></tr>
<tr class="separator:a846382d2ad74d2087f5557ecd90937e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classblmc__drivers_1_1MotorBoardInterface"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classblmc__drivers_1_1MotorBoardInterface')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html">blmc_drivers::MotorBoardInterface</a></td></tr>
<tr class="memitem:aecd23682c4a8c0df8e57b4c752e1d9ee inherit pub_methods_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aecd23682c4a8c0df8e57b4c752e1d9ee"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#aecd23682c4a8c0df8e57b4c752e1d9ee">~MotorBoardInterface</a> ()</td></tr>
<tr class="memdesc:aecd23682c4a8c0df8e57b4c752e1d9ee inherit pub_methods_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destroy the <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html" title="MotorBoardInterface declares an API to inacte with a MotorBoard. ">MotorBoardInterface</a> object. <br /></td></tr>
<tr class="separator:aecd23682c4a8c0df8e57b4c752e1d9ee inherit pub_methods_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classblmc__drivers_1_1MotorBoardInterface"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classblmc__drivers_1_1MotorBoardInterface')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html">blmc_drivers::MotorBoardInterface</a></td></tr>
<tr class="memitem:a8e869cbdb9fcc872ba5a33813e0dfafb inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8e869cbdb9fcc872ba5a33813e0dfafb"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a8e869cbdb9fcc872ba5a33813e0dfafb">MeasurementIndex</a> { <br />
&#160;&#160;<b>current_0</b>, 
<b>current_1</b>, 
<b>position_0</b>, 
<b>position_1</b>, 
<br />
&#160;&#160;<b>velocity_0</b>, 
<b>velocity_1</b>, 
<b>analog_0</b>, 
<b>analog_1</b>, 
<br />
&#160;&#160;<b>encoder_index_0</b>, 
<b>encoder_index_1</b>, 
<b>measurement_count</b>
<br />
 }<tr class="memdesc:a8e869cbdb9fcc872ba5a33813e0dfafb"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is the list of the measurement we can access. <br /></td></tr>
</td></tr>
<tr class="separator:a8e869cbdb9fcc872ba5a33813e0dfafb inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82ed4d0fa527521707281396095a88ca inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a82ed4d0fa527521707281396095a88ca"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a82ed4d0fa527521707281396095a88ca">ControlIndex</a> { <b>current_target_0</b>, 
<b>current_target_1</b>, 
<b>control_count</b>
 }<tr class="memdesc:a82ed4d0fa527521707281396095a88ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is the list of the controls we can send. <br /></td></tr>
</td></tr>
<tr class="separator:a82ed4d0fa527521707281396095a88ca inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14e237254ba495a66091ea3a3a33fa75 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a14e237254ba495a66091ea3a3a33fa75"></a>
typedef real_time_tools::ThreadsafeTimeseries&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a></td></tr>
<tr class="memdesc:a14e237254ba495a66091ea3a3a33fa75 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:a14e237254ba495a66091ea3a3a33fa75 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0e201396fe808cbc480b69768c81fa2 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab0e201396fe808cbc480b69768c81fa2"></a>
typedef ScalarTimeseries::Index&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ab0e201396fe808cbc480b69768c81fa2">Index</a></td></tr>
<tr class="memdesc:ab0e201396fe808cbc480b69768c81fa2 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:ab0e201396fe808cbc480b69768c81fa2 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef0ca990410b130b67abce74d20d58a5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aef0ca990410b130b67abce74d20d58a5"></a>
typedef real_time_tools::ThreadsafeTimeseries&lt; <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ab0e201396fe808cbc480b69768c81fa2">Index</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#aef0ca990410b130b67abce74d20d58a5">IndexTimeseries</a></td></tr>
<tr class="memdesc:aef0ca990410b130b67abce74d20d58a5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:aef0ca990410b130b67abce74d20d58a5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae3777e484dda60c4abe87f2b542ddfb8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae3777e484dda60c4abe87f2b542ddfb8"></a>
typedef real_time_tools::ThreadsafeTimeseries&lt; <a class="el" href="classblmc__drivers_1_1MotorBoardStatus.html">MotorBoardStatus</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae3777e484dda60c4abe87f2b542ddfb8">StatusTimeseries</a></td></tr>
<tr class="memdesc:ae3777e484dda60c4abe87f2b542ddfb8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:ae3777e484dda60c4abe87f2b542ddfb8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae2afe94a023d9f08a4c689e9b7660f15 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae2afe94a023d9f08a4c689e9b7660f15"></a>
typedef real_time_tools::ThreadsafeTimeseries&lt; <a class="el" href="classblmc__drivers_1_1MotorBoardCommand.html">MotorBoardCommand</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae2afe94a023d9f08a4c689e9b7660f15">CommandTimeseries</a></td></tr>
<tr class="memdesc:ae2afe94a023d9f08a4c689e9b7660f15 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:ae2afe94a023d9f08a4c689e9b7660f15 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a733b7ed7a3a96f6b0712b6bb5307f8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memTemplParams" colspan="2"><a class="anchor" id="a6a733b7ed7a3a96f6b0712b6bb5307f8"></a>
template&lt;typename Type &gt; </td></tr>
<tr class="memitem:a6a733b7ed7a3a96f6b0712b6bb5307f8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a> = std::shared_ptr&lt; Type &gt;</td></tr>
<tr class="memdesc:a6a733b7ed7a3a96f6b0712b6bb5307f8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:a6a733b7ed7a3a96f6b0712b6bb5307f8 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abeb474bef6d85dffcd5227e5ea965cc5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memTemplParams" colspan="2"><a class="anchor" id="abeb474bef6d85dffcd5227e5ea965cc5"></a>
template&lt;typename Type &gt; </td></tr>
<tr class="memitem:abeb474bef6d85dffcd5227e5ea965cc5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memTemplItemLeft" align="right" valign="top">using&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#abeb474bef6d85dffcd5227e5ea965cc5">Vector</a> = std::vector&lt; Type &gt;</td></tr>
<tr class="memdesc:abeb474bef6d85dffcd5227e5ea965cc5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="mdescLeft">&#160;</td><td class="mdescRight">A useful shortcut. <br /></td></tr>
<tr class="separator:abeb474bef6d85dffcd5227e5ea965cc5 inherit pub_types_classblmc__drivers_1_1MotorBoardInterface"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This class <a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html" title="This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. ">CanBusMotorBoard</a> implements a <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html" title="MotorBoardInterface declares an API to inacte with a MotorBoard. ">MotorBoardInterface</a> specific to CAN networks. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">blmc_drivers::CanBusMotorBoard::CanBusMotorBoard </td>
          <td>(</td>
          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classblmc__drivers_1_1CanBusInterface.html">CanBusInterface</a> &gt;&#160;</td>
          <td class="paramname"><em>can_bus</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const size_t &amp;&#160;</td>
          <td class="paramname"><em>history_length</em> = <code>1000</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>control_timeout_ms</em> = <code>100</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Construct a new <a class="el" href="classblmc__drivers_1_1CanBusMotorBoard.html" title="This class CanBusMotorBoard implements a MotorBoardInterface specific to CAN networks. ">CanBusMotorBoard</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">can_bus</td><td></td></tr>
    <tr><td class="paramname">history_length</td><td></td></tr>
  </table>
  </dd>
</dl>

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</div>
<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae2afe94a023d9f08a4c689e9b7660f15">CommandTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_command </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get the commands to be sent. </p>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const CommandTimeseries&gt; is the list of the command to be sent. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a4913308c1eacc98475aeb8647447c997">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_control </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>index</em></td><td>)</td>
          <td> const</td>
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<p>Get the controls to be sent. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">index</td><td>the kind of control we are interested in. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the control to be sent. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#aa5eeed12c851993f2e2c93f5479df9de">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_measurement </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>index</em></td><td>)</td>
          <td> const</td>
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<p>Getters. </p>
<p>Get the measurement data.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">index</td><td>is the kind of measurement we are insterested in. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the last measurements acquiered from the CAN card. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a34828a0375a3bd1fede4deb4fc74c04d">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae2afe94a023d9f08a4c689e9b7660f15">CommandTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_sent_command </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get the already sent commands. </p>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const CommandTimeseries&gt; is the list of the sent cotnrols. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#afd3de58f7a900347154b8d323f1c1d94">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a14e237254ba495a66091ea3a3a33fa75">ScalarTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_sent_control </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>index</em></td><td>)</td>
          <td> const</td>
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<p>Get the already sent controls. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">index</td><td>the kind of control we are interested in. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const ScalarTimeseries&gt; is the list of the sent cotnrols. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a8dc6222e915fc96d89b13cbb0fcb0cda">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a6a733b7ed7a3a96f6b0712b6bb5307f8">Ptr</a>&lt;const <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#ae3777e484dda60c4abe87f2b542ddfb8">StatusTimeseries</a>&gt; blmc_drivers::CanBusMotorBoard::get_status </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<p>Get the status of the CAN card. </p>
<dl class="section return"><dt>Returns</dt><dd>Ptr&lt;const StatusTimeseries&gt; is the list of last acquiered status. </dd></dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a13b1ffa7d10c1c753d76eaf5368714e3">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">void blmc_drivers::CanBusMotorBoard::pause_motors </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000002">Todo:</a></b></dt><dd>: this function should go away, and we should add somewhere a warning in case there is a timeout </dd></dl>

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          <td class="memname">virtual void blmc_drivers::CanBusMotorBoard::set_command </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classblmc__drivers_1_1MotorBoardCommand.html">MotorBoardCommand</a> &amp;&#160;</td>
          <td class="paramname"><em>command</em></td><td>)</td>
          <td></td>
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<p>Set the commands, see <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a86b4ff810ca652d6761090ceaff65621" title="set_command save the command internally. ">MotorBoardInterface::set_command</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">command</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a86b4ff810ca652d6761090ceaff65621">blmc_drivers::MotorBoardInterface</a>.</p>

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          <td class="memname">virtual void blmc_drivers::CanBusMotorBoard::set_control </td>
          <td>(</td>
          <td class="paramtype">const double &amp;&#160;</td>
          <td class="paramname"><em>control</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>index</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
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<p>Setters. </p>
<p>Set the controls, see <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a3ace57ba3e09b9b3120d09303ff39a61" title="Setters. ">MotorBoardInterface::set_control</a></p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">control</td><td></td></tr>
    <tr><td class="paramname">index</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="classblmc__drivers_1_1MotorBoardInterface.html#a3ace57ba3e09b9b3120d09303ff39a61">blmc_drivers::MotorBoardInterface</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/hardware/blmc_drivers/include/blmc_drivers/devices/<a class="el" href="motor__board_8hpp_source.html">motor_board.hpp</a></li>
<li>/workspace/software/workspace/src/catkin/hardware/blmc_drivers/src/<a class="el" href="motor__board_8cpp.html">motor_board.cpp</a></li>
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